CN109664938A - Steering-by-wire dual motors system and its Yaw stability compensation policy based on driving behavior identification - Google Patents
Steering-by-wire dual motors system and its Yaw stability compensation policy based on driving behavior identification Download PDFInfo
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- CN109664938A CN109664938A CN201811636826.1A CN201811636826A CN109664938A CN 109664938 A CN109664938 A CN 109664938A CN 201811636826 A CN201811636826 A CN 201811636826A CN 109664938 A CN109664938 A CN 109664938A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention patent discloses a kind of steering-by-wire dual motors system and its Yaw stability compensation policy based on driving behavior identification, which includes acquisition unit, central controller, turns to disc assembly and front-wheel steer assembly；Its compensation policy are as follows: the steering wheel angle measured by rotary angle transmitter at driving behavior identification and steering wheel, obtain the steering wheel angle of prediction, and it passes to the comprehensive yaw velocity gain of central controller and obtains ideal transmission ratio with side acceleration factor, the relationship for obtaining steering wheel angle to angle electrical machinery ideal input corner sends angle electrical machinery controller to, carries out opened loop control to angle electrical machinery；Ideal front wheel angle is obtained further according to steering wheel angle and ideal steering ratio, obtain ideal yaw velocity, the compensation torque of system is obtained by robust controller, torque motor controller is passed to by Compensation Strategies, to guarantee the riding stability in the performance and driving process of system quick response.
Description
Technical field
The invention patent relates to electric wheel truck electronic-controlled power steering field, especially a kind of line based on driving behavior identification
Control turns to dual motors system and its Yaw stability compensation policy.
Background technique
Compared with traditional steering system, wire-controlled steering system solves the defect of conventional steering system stable drive ratio,
During the actual travel of automobile, it can be changed according to speed and realize ideal steering ratio control.The control of steering-by-wire variable ratio
The Steering sensitivity of automobile when not only having increased low speed, but also increase the riding stability during galloping.
For wire-controlled steering system based on single actuating motor angle electrical machinery, the electric current of single actuating motor mostly uses closed loop control at present
The mode of system carries out, and what is tracked is the yaw velocity of front wheel angle either automobile.Close-loop control mode is by upper a period of time
The input of the practical yaw velocity of the automobile at quarter and ideal yaw velocity difference as this moment motor, necessarily causes in this way
The value of feedback that angle electrical machinery only receives last moment just can be carried out the movement of subsequent time, to increase prolonging for system response
For a long time.When automobile straight-line travelling under certain speed especially when just starting to be turned to, because of angle electrical machinery
A upper moment does not act, and is defaulted as 0, also means that the practical yaw velocity a upper moment and the reason at this moment
Think that yaw velocity is used as input, however real-time yaw velocity is obviously non-zero in actual driving process, this, which will lead to, closes
There are many loop system first time value of feedback and actual value of feedback great disparity, cause the unstable of system and vibrate, and this big mistake
Difference needs the closed loop feedback of later point to eliminate, and extends the time that system reaches stable state.Furthermore the failure of single steering motor
The lower mode with software redundancy can not substitute, and will greatly affect the steering behaviour of automobile, will cause automobile unstability.
It is mostly at present double-closed-loop control about the control of bi-motor, still uses this close-loop control mode of single motor, also deposit
Inevitably reaction efficiency is lower existing for this closed-loop control, shakes for the first time larger, and it is long that system reaches steady state time
The disadvantages of.Research about bi-motor Yaw stability is seldom, and can meet with a variety of interference in the process of moving in automobile, laterally
It air-dries and disturbs, road agitation etc., these interference all can cause tremendous influence to the riding stability of automobile, therefore for bi-motor
Lateral Stability strategy proposition it is meaningful.The steering-by-wire dual motors system recognized currently based on driving behavior
And its there is not been reported for the content of Yaw stability compensation policy.
Summary of the invention
In view of the above-mentioned problems, the present invention provides it is a kind of based on driving behavior identification steering-by-wire dual motors system and
Its Yaw stability compensation policy.The system makes to turn by the identification to driving behavior, by the foundation of reverse ideal model
Angle motor is directly with ideal corner input at that time, rather than the value of feedback of last moment is controlled, and the real-time of system is improved
Property.
To achieve the above object, present invention firstly provides a kind of steering-by-wire bi-motors based on driving behavior identification
System comprising: acquisition unit, central controller turn to disc assembly, front-wheel steer assembly；
The acquisition unit includes: steering wheel angle sensor 4, hand-wheel torque sensor 5, front wheel angle sensor 9,
Front-wheel torque sensor 12, vehicle speed sensor 19, lateral acceleration sensor 20 and yaw-rate sensor 21；Acquisition unit
Driving behavior signal in acquisition vehicle traveling process in real time, the angular signal of steering wheel angle sensor, practical yaw angle
Speed signal, speed signal, the angular signal of angle electrical machinery, the dtc signal of torque motor simultaneously pass to arithmetic and control unit 7；And
Arithmetic and control unit 7 is transmitted to robust by the calculated ideal yaw velocity of steering wheel angle signal ideal value and speed signal
Property control and compensating unit 18, while practical yaw rate signal is also passed into Lu Bang Control Sampled-Data and compensating unit 18；Shandong
Stick control and compensating unit 18 are calculated according to the practical yaw velocity difference passed over and ideal yaw velocity difference
Compensation torque is passed to torque motor control by compensation torque, consideration road agitation, lateral wind, mechanical friction etc. accordingly out
Device drives corresponding torque motor to compensate；
Central controller (ECU) includes arithmetic and control unit 7, Lu Bang Control Sampled-Data and compensating unit 18；The Lu Bang Control Sampled-Data
And compensating unit 18 includes Lu Bang Control Sampled-Data unit and Compensation Strategies unit；It receives driver's row from acquisition unit
For the angular signal of signal and steering wheel angle sensor, the ideal steering wheel angle letter of real time reaction driver intention is obtained
Number.Arithmetic and control unit 7 receives the steering wheel angle signal transmitted from acquisition unit, passes through corner electricity according to reverse ideal model
Machine controller inputs according to ideal corner and carries out ideal current control to angle electrical machinery, while arithmetic and control unit 7 passes through in real time
The ideal steering wheel angle signal for reacting driver intention, calculates ideal yaw velocity with speed signal, and be sent to
Lu Bang Control Sampled-Data and compensating unit 18；
The steering disc assembly includes sequentially connected steering wheel 1, steering column 2, road feel motor 3, road feel electric machine controller
6；The road feel for turning to the transmitting of disc assembly feedback reception road feel motor, makes driver receive the feedback of real-time pavement behavior；
Front-wheel steer assembly includes sequentially connected angle electrical machinery controller 8, angle electrical machinery 10, double reduction device 11, is turned
Torque motor controller 16, torque motor 13, retarder 14, gear and rack teeth mechanism 15, front-wheel 17；Angle electrical machinery controller 8 receives
The ideal input current signal of angle electrical machinery from torque motor controller 16 makes angle electrical machinery by acting on angle electrical machinery
Export suitable corner, and act on lower layer turn to executing agency and receive from Lu Bang Control Sampled-Data unit and compensating unit according to
The practical yaw velocity difference passed over calculates corresponding compensation torque with ideal yaw velocity difference, considers road surface
Compensation torque is passed to torque motor controller, corresponding torque motor is driven to be mended by interference, lateral wind, mechanical friction etc.
It repays；
Wherein, steering wheel 1 is connected by steering lever column 2 with road feel motor 3 and steering wheel angle sensor 4, steering wheel
Torque sensor 5 is mounted on steering lever column 2；Road feel electric machine controller 6 and 5 phase of road feel motor 3 and hand-wheel torque sensor
It connects, and controls the operation of road feel motor 3；
Rack and pinion steering gear 15 is connected with angle electrical machinery 10, torque motor 13, double reduction device 11, retarder 14 respectively
It connects, front-wheel 17 is mounted on the two sides of rack and pinion steering gear 15；Front wheel angle sensor 9 is mounted on front-wheel 17；Rotation angular sensing
Device 9 connect Flexray bus with torque sensor 12, and the signal of angle electrical machinery controller 8 and torque motor controller 16 is defeated
Enter into bus, then through bus transfer into Lu Bang Control Sampled-Data and compensating unit 18；Angle electrical machinery 10 and double reduction device 11
It is connected with angle electrical machinery controller 8, angle electrical machinery controller 8 controls the operation of angle electrical machinery 10 and double reduction device 11,
With torque motor controller 16 to connection, torque motor controls controller 16 and controls torque electricity for torque motor 13 and retarder 14
The operation of machine 13 and retarder 14；
Lateral acceleration sensor 20 and yaw-rate sensor 21 are installed on wheel 17, and side acceleration
Sensor 20 and yaw-rate sensor 21 are connect with Lu Bang Control Sampled-Data and compensating unit 18 respectively, defeated by signal is collected
Enter into Lu Bang Control Sampled-Data and the unit of compensation 18；
The output end of Lu Bang Control Sampled-Data and the unit of compensation 18 is total with the input terminal of road feel controller 6 and Flexray respectively
Line is connected, and the unit 18 of Lu Bang Control Sampled-Data and compensation receives the torque motor controller 12 for being passed to Flexary, angle electrical machinery
Controller 9, rotary angle transmitter 9, the signal of torque sensor 12 and the signal of arithmetic and control unit 7 carry out Lu Bang Control Sampled-Data and benefit
The control of strategy is repaid, and transmits commands to angle electrical machinery control instruction input Flexery bus, and by Flexery bus
Device 8 and torque motor controller 16 processed make torque motor act output torque, to compensate automobile ideal yaw velocity and reality
The error amount of border yaw velocity.
Secondly, invention additionally discloses a kind of sideways of steering-by-wire dual motors system based on the identification of above-mentioned driving behavior
Qualitative compensation policy, the strategy include:
Step 1:
While the car is driving, the behavior signal of driver is acquired by acquisition unit, steering wheel angle sensor
Angular signal δsw1, practical yaw rate signal ωr, speed signal u, the angular signal θ of angle electrical machinery, turn of torque motor
Square signal simultaneously passes to arithmetic and control unit；
Step 2:
Arithmetic and control unit receives the corner letter of driving behavior signal and steering wheel angle sensor from acquisition unit
Number δsw1, obtain the ideal steering wheel angle signal δ of real time reaction driver intentionsw；Arithmetic and control unit passes through comprehensive yaw angle speed
Degree gain and side acceleration gain factor obtain ideal transmission ratio id, and by ideal steering ratio idWith line traffic control bi-motor lower layer
Kinetics relation combines, and show that steering wheel angle ideal current is input to the ideal function of angle electrical machinery, arithmetic and control unit by this
When angle electrical machinery desired current level i2Angle electrical machinery controller is inputed to, and robustness is further passed to by acquisition unit
Control unit；
Its specifically:
Step 2.1:
Arithmetic and control unit recognizes to obtain the ideal steering wheel angle δ of reaction driver intention by driving behaviorsw；
If vehicle centroid is (X, Y) relative to the position of earth axes, the angle of vehicle longitudinal axis and X-axis is φ (vehicle
Yaw angle), then X, Y and φ can be acquired by following formula:
Wherein, X0,Y0It is the position of t=0 moment vehicle；
The defeated of disk corner is decided to move to according to the traveling angle error of displacement error and current car position at taking aim in advance
Enter size:
Forward sight time TpIt is pre- take aim at displacement error εyBy the lateral displacement Y of expected pathd, current time vehicle centroid
The lateral displacement Y at placedAnd determination；
Steering wheel angle is represented by the weighted sum and driver's operating delay of running car displacement error and deflection error
Product:
Wherein δswFor ideal orientation disk corner；K1And K2Respectively driver increases the compensation of displacement error and deflection error
Benefit；τdFor delay time；
Step 2.2: the expression of real-time bus ideal steering ratio
Arithmetic and control unit obtains steering-by-wire pair by the influence of comprehensive yaw velocity gain and side acceleration gain
The ideal steering ratio of motor automobile:
Wherein: CwrIt is the corresponding coefficient of yaw velocity gain, value range is 3.03-6.25, CayIt is side acceleration
The corresponding coefficient of gain, value range 0.16-0.22；
Step 2.3 arithmetic and control unit is by real-time steering wheel δswReverse ideal input model (5) is substituted into, it is defeated to obtain angle electrical machinery
Enter ideal current i2, and further pass to angle electrical machinery controller；
Reverse ideal input model (5), expression formula reasoning flow are as follows:
According to steering wheel angle δswWith steered wheel corner δfWith ideal steering ratio idRelationship can obtain:
δf=δsw/id (6)
It can be obtained according to rack pinion corner and the relationship of steering front wheel corner:
θs2=δf*G (7)
So as to obtain the relationship of steering wheel angle and rack pinion corner:
θs2=δsw*G/id (8)
The differential equation of motion of angle electrical machinery:
The equation of angle electrical machinery input torque:
Tm2=Kt*i2 (10)
Without rack gear under torque motor compensating coefficient and pinion gear kinetics equation:
Pinion gear corner and angle electrical machinery input equations of rotating angle:
θs2=δm2/G1 (12)
By available in above several formulas: ideal current and rack pinion angle relation:
Ideal current and rack pinion angle relation formula are subjected to Laplace transformation:
State when using stable state is as the ideal input of angle electrical machinery corner electric current:
S=0 when stable state, as available from the above equation:
Wherein δfIt is front wheel angle, δswIt is steering wheel angle, BRIt is system Equivalent damping coefficient, ideal steering ratio id, rack gear
Transmission ratio of the pinion gear corner to steering front wheel corner, Tm2It is the output torque of angle electrical machinery, Jm2Be angle electrical machinery rotation it is used
Amount, δm2It is the corner of angle electrical machinery, Bm2It is the damping of angle electrical machinery, Tg2It is the load torque of angle electrical machinery, KtIt is angle electrical machinery
Torque coefficient, i2It is the electric current of torque motor, G1 is the reduction ratio of two stage reducer, JRIt is pinion-and-rack system Equivalent Rotational
Inertia, BRIt is pinion-and-rack system equivalent damping, TaIt is the suffered aligning torque of steered wheel, fpIt is frictional resistance moment, η is
The transmission efficiency of system；
Step 2.4:
Angle electrical machinery controller is by acquisition unit (front wheel angle sensor and torque sensor) by the signal of acquisition: side
To disk angular signal ideal value δsw, speed signal u, ideal yaw velocity, practical yaw rate signal ωrPass to robust
Property control unit；
Step 3:
Yaw velocity computing unit inputs full-vehicle steering two-freedom model according to the real-time speed u of automobile and front wheel angle
Obtain practical yaw velocity ωr:
In formula: m is car mass；IZIt is automobile around the rotary inertia of z-axis；k1、k2The lateral deviation of respectively front and back wheel is rigid
Degree；δfFor front wheel angle；A, b are respectively distance of the axle to vehicle centroid；U is vehicle forward speed；ωrFor yaw angle speed
Degree；β is side slip angle；
Central controller passes through the ideal steering wheel angle signal δ of real time reaction driver intention simultaneouslysw, believe with speed
Number u calculates ideal yaw velocity ωr *, and it is sent to Lu Bang Control Sampled-Data and compensating unit；
Arithmetic and control unit passes through the ideal steering wheel angle signal δ of real time reaction driver intention simultaneouslysw, believe with speed
Number u calculates ideal yaw velocity ωr *, and it is sent to Lu Bang Control Sampled-Data and compensating unit；
Ideal yaw velocity
Stability factor
Wherein m is the quality of automobile, and L is the antero posterior axis square of automobile, k1It is the cornering stiffness of automobile front axle wheel, k2It is vapour
The cornering stiffness of the rear axle wheel of vehicle, a are the front shaft squares of automobile, and b is the rear axle axis square of automobile, K be automobile stability because
Element, u are longitudinal speeds of automobile；
Step 4:
Lu Bang Control Sampled-Data and compensating unit receive the ideal yaw rate signal ω from central controllerr *With it is real-time
Practical automobile yaw rate signal ωrIt is calculated, and practical yaw velocity and ideal yaw velocity difference Δ ωr
It is converted into compensating torque T accordingly1, the compensation torque T of comprehensive road agitation formation2, the compensation torque T of system friction formation3,
Total compensation torque Δ T is transmitted to Compensation Strategies unit and carries out tactful judgement；Consider system stability governing factor, simultaneously
Using the comprehensive robust control of μ, the ability of system attack external interference is improved；
Specifically, Δ T=kc* Δ I (18)
Δ T is total compensation torque, and Δ I is the compensation electric current of torque motor；
The comprehensive robust control of the μ is specific as follows according to the state space realization of steering-by-wire bi-motor yaw velocity:
The state variable of control system isThe input of system is u=[Δ
I], the disturbance input of system is w=[I dr Fyw]T, system output is y=[r], then steering-by-wire bi-motor yaw velocity
The state space realization of control are as follows:
In formula,
Wherein θs2It is the pinion gear corner under angle electrical machinery effect, θs3It is the corner of the pinion gear under torque motor effect,
BRIt is system Equivalent damping coefficient, the transmission ratio G, I of rack pinion corner to steering front wheel corner are the ideals of angle electrical machinery
Input current, Δ I are torque motor compensation electric current input, Jm2It is the rotary inertia of angle electrical machinery, Jm3It is the rotation of torque motor
Inertia, Bm2It is the damping of angle electrical machinery, Bm3It is the damping of torque motor, KtIt is the torque coefficient of angle electrical machinery and torque motor,
G1 is the reduction ratio of two stage reducer, JRIt is pinion-and-rack system equivalent moment of inertia, BRIt is pinion-and-rack system equivalent damping,
fpIt is frictional resistance moment, η=0.99 is the transmission efficiency of system；
Step 5:
Compensation Strategies unit receives the compensation torque from Lu Bang Control Sampled-Data unit and compensates control strategy judgement,
And will determine result and be suitable for determining that total compensation torque Δ T of result passes to torque motor, it is controlled by torque motor
Device control torque motor output torque is to compensate the torque being folded on rack gear, to compensate fortune with motor car wheel
It is dynamic, comprising:
Compensation Strategies unit receives the compensation torque from Lu Bang Control Sampled-Data unit and compensates control strategy judgement:
When total compensation torque is positive value, the compensation that torque motor carries out torque can control:
The differential equation of motion of rack gear are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLIt is rigid for steering linkage
Degree；BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is corner
The output torque of motor；Tg3It is the output torque of torque motor last moment:
Δ T=T1+T2+T3 (24)
Wherein: Δ T is total compensation torque, T1Make compensation torque needed for making up yaw velocity difference, T2Road agitation
The compensation torque of formation, T3The compensation torque that system friction is formed；
When total compensation torque Δ T is negative value or 0, the compensation that torque motor carries out torque, the movement of rack gear are not controlled
The differential equation are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLIt is rigid for steering linkage
Degree；BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is corner
The output torque of motor；Tg3It is the output torque of torque motor；
Torque motor exports corresponding compensation torque according to corresponding compensation policy, and then gear and rack teeth mechanism acts, tooth
Wheel rackwork drives front-wheel to be compensated accordingly, to realize the compensation of yaw velocity.
The reverse ideal model that the application uses is the accurate reverse derivation to system, so this is that a kind of value of feedback is accurate
A kind of means of prediction.Especially when driver just carries out steering wheel rotation, this inversion model prediction effect is become apparent.
Automobile is in straight-line travelling, it is clear that the yaw velocity of automobile is non-zero, and when just having started to turn to, reverse ideal model can be pre-
Measure at this time close to the true yaw velocity of automobile, rather than simple closed-loop system receives the yaw angle of last moment
The value of speed 0 reduces the error of first time, decreases the vibration started when turning to, further less arrival automobile
The time of yaw velocity stable state.
In order to further increase the accuracy of system control, while it should be taken into account the uncertainty in vehicle traveling process,
Such as road agitation, lateral wind interference, the interference such as friction interference, from safety, accuracy angle is set out, and the application is using torque electricity
Machine compensates various interference.It is steady for the sideway under angle electrical machinery opened loop control the present invention is based on reverse ideal input model
Qualitative contrlol designs, and exports suitable compensation torque by torque motor and offset various interference, to ensure that automobile
The stability and accuracy of traveling realize stability of automobile, accuracy, the perfect unity of accuracy.
Compared with prior art, it is provided by the invention based on driving behavior identification steering-by-wire dual motors system and its
Yaw stability compensation policy has the advantage that
1. the corner for obtaining reaction driver intention by recognizing driving behavior inputs, on the one hand improves reflection and drive
The corner input speed that member is intended to, reduces the delay link of input.
2. other side angle electrical machinery directly with ideal corner input, reduce generated because tracking front wheel angle it is anti-
The time is presented, reduces the retardance in steering system steering procedure, substantially increases the steering efficiency in steering procedure, improve
The accuracy of steering；
3. although steering motor is inputted with ideal corner, simultaneously in view of the uncertainty in vehicle traveling process, such as
Road agitation, lateral wind interference, friction interference etc., from safety, accuracy angle is set out, and the sideway based on double actuating motors is steady
Qualitative contrlol is particularly significant, is controlled by Yaw stability, the suitable compensation torque of torque motor output, to ensure that automobile
The stability and accuracy of traveling realize stability of automobile, accuracy, the perfect unity of accuracy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the invention patent steering-by-wire dual motors system.
Fig. 2 is the steering-by-wire dual motors system control device schematic diagram that the invention patent is recognized based on driving behavior.
Fig. 3 is the steering-by-wire dual motors system and its Yaw stability benefit that the invention patent is recognized based on driving behavior
Repay tactful total figure.
Fig. 4 is that the present invention is based on the steering-by-wire bi-motor automobile with compensation function of yaw rate feedback is steady
Qualitative Lu Bang Control Sampled-Data system block diagram.
Specific embodiment
For the ease of the understanding of those skilled in the art, the invention patent is made below with reference to example and attached drawing further
Illustrate, the content that embodiment refers to not is the restriction to the invention patent.
In following embodiment, the model M7 of central controller (ECU) (MT20U in specific implementation, also can be used,
The conventional commercials ECU such as MT20U2 model).
Embodiment 1
The double actuating motor system structures of the steering-by-wire of shown the invention patent arrange schematic diagram referring to Fig.1, specifically include that and adopt
Collect unit, central controller turns to disc assembly, front-wheel steer assembly；
The acquisition unit includes: steering wheel angle sensor 4, hand-wheel torque sensor 5, front wheel angle sensor 9,
Front-wheel torque sensor 12, vehicle speed sensor 19, lateral acceleration sensor 20 and yaw-rate sensor 21；
Central controller (ECU) includes arithmetic and control unit 7, Lu Bang Control Sampled-Data and compensating unit 18；The Lu Bang Control Sampled-Data
And compensating unit 18 includes Lu Bang Control Sampled-Data unit and Compensation Strategies unit；
The steering disc assembly includes sequentially connected steering wheel 1, steering column 2, road feel motor 3, road feel electric machine controller
6；
Front-wheel steer assembly includes sequentially connected angle electrical machinery controller 8, angle electrical machinery 10, double reduction device 11, is turned
Torque motor controller 16, torque motor 13, retarder 14, gear and rack teeth mechanism 15, front-wheel 17；
Wherein, steering wheel 1 is connected by steering lever column 2 with road feel motor 3 and steering wheel angle sensor 4, steering wheel
Torque sensor 5 is mounted on steering lever column 2；Road feel electric machine controller 6 is mounted on road feel motor 3, road feel electric machine controller 6
Connect with hand-wheel torque sensor 5, and controls the operation of road feel motor 3；
Rack and pinion steering gear 15 is connected with angle electrical machinery 10, torque motor 13, double reduction device 11, retarder 14 respectively
It connects, front-wheel 17 is mounted on the two sides of rack and pinion steering gear 15；Front wheel angle sensor 9 is mounted on front-wheel 17；Rotation angular sensing
Device 9 connect Flexray bus with torque sensor 12, and the signal of angle electrical machinery controller 8 and torque motor controller 16 is defeated
Enter into bus, then through bus transfer into Lu Bang Control Sampled-Data and compensating unit 18；Angle electrical machinery 10 and double reduction device 11
It is connected with angle electrical machinery controller 8, angle electrical machinery controller 8 controls the operation of angle electrical machinery 10 and double reduction device 11,
With torque motor controller 16 to connection, torque motor controls controller 16 and controls torque electricity for torque motor 13 and retarder 14
The operation of machine 13 and retarder 14；
Lateral acceleration sensor 20 and yaw-rate sensor 21 are installed on wheel 17, and side acceleration
Sensor 20 and yaw-rate sensor 21 are connect with Lu Bang Control Sampled-Data and compensating unit 18 respectively, defeated by signal is collected
Enter into Lu Bang Control Sampled-Data and the unit of compensation 18；
The output end of Lu Bang Control Sampled-Data and the unit of compensation 18 is total with the input terminal of road feel controller 6 and Flexray respectively
Line is connected, and the unit 18 of Lu Bang Control Sampled-Data and compensation receives the torque motor controller 12 for being passed to Flexary, angle electrical machinery
Controller 9, rotary angle transmitter 9, the signal of torque sensor 12 and the signal of arithmetic and control unit 7 carry out Lu Bang Control Sampled-Data and benefit
The control of strategy is repaid, and transmits commands to angle electrical machinery control instruction input Flexery bus, and by Flexery bus
Device 8 and torque motor controller 16 processed make torque motor act output torque, drive vehicle front to turn by gear and rack teeth mechanism
Certain angle is crossed, to compensate the error amount of automobile ideal yaw velocity Yu practical yaw velocity.
The present embodiment provides the Yaw stability compensation policy based on above system simultaneously, as in Figure 2-4, specific
It is as follows:
Step 1:
While the car is driving, the behavior signal of driver is acquired by acquisition unit, steering wheel angle sensor
Angular signal δsw1, practical yaw rate signal ωr, speed signal u, the angular signal θ of angle electrical machinery, turn of torque motor
Square signal simultaneously passes to arithmetic and control unit；
Step 2:
Arithmetic and control unit receives the corner letter of driving behavior signal and steering wheel angle sensor from acquisition unit
Number δsw1, obtain the ideal steering wheel angle signal δ of real time reaction driver intentionsw；Arithmetic and control unit passes through comprehensive yaw angle speed
Degree gain and side acceleration gain factor obtain ideal transmission ratio id, and by ideal steering ratio idWith line traffic control bi-motor lower layer
Kinetics relation combines, and show that steering wheel angle ideal current is input to the ideal function of angle electrical machinery, arithmetic and control unit by this
When angle electrical machinery desired current level i2Angle electrical machinery controller is inputed to, and robustness is further passed to by acquisition unit
Control unit；
It is above-mentioned, ideal steering wheel angle signal δsw, ideal steering ratio id, angle electrical machinery ideal current i2With steering wheel angle
The determination step of relationship include:
2.1 arithmetic and control units recognize to obtain the ideal steering wheel angle δ of reaction driver intention by driving behaviorsw；
If vehicle centroid is (X, Y) relative to the position of earth axes, the angle of vehicle longitudinal axis and X-axis is φ (vehicle
Yaw angle), then X, Y and φ can be acquired by following formula:
Wherein, X0,Y0It is the position of t=0 moment vehicle；
The defeated of disk corner is decided to move to according to the traveling angle error of displacement error and current car position at taking aim in advance
Enter size:
Forward sight time TpIt is pre- take aim at displacement error εyBy the lateral displacement Y of expected pathd, current time vehicle centroid
The lateral displacement Y at placedAnd determination；
Steering wheel angle is represented by the weighted sum and driver's operating delay of running car displacement error and deflection error
Product:
Wherein: δswFor ideal orientation disk corner；K1And K2Respectively compensation of the driver to displacement error and deflection error
Gain；τdFor delay time；
The expression of 2.2 real-time bus ideal steering ratios
Arithmetic and control unit obtains steering-by-wire pair by the influence of comprehensive yaw velocity gain and side acceleration gain
The ideal steering ratio of motor automobile:
Wherein: CwrIt is the corresponding coefficient of yaw velocity gain, value range is 3.03-6.25, CayIt is side acceleration
The corresponding coefficient of gain, value range 0.16-0.22；
2.3 arithmetic and control units are by real-time steering wheel δswReverse ideal input model is substituted into, it is ideal to obtain angle electrical machinery input
Electric current i2, and further pass to angle electrical machinery controller；
Ideal input model expression formula reasoning flow is as follows:
Ideal current and rack pinion angle relation:
Ideal current and rack pinion angle relation formula are subjected to Laplace transformation:
State when using stable state is as the ideal input of angle electrical machinery corner electric current:
S=0 when stable state, as available from the above equation:
Wherein δfIt is front wheel angle, δswIt is steering wheel angle, BRIt is system Equivalent damping coefficient, ideal steering ratio id, rack gear
Transmission ratio of the pinion gear corner to steering front wheel corner, Tm2It is the output torque of angle electrical machinery, Jm2Be angle electrical machinery rotation it is used
Amount, δm2It is the corner of angle electrical machinery, Bm2It is the damping of angle electrical machinery, Tg2It is the load torque of angle electrical machinery, KtIt is angle electrical machinery
Torque coefficient, i2It is the electric current of torque motor, G1 is the reduction ratio of two stage reducer, JRIt is pinion-and-rack system Equivalent Rotational
Inertia, BRIt is pinion-and-rack system equivalent damping, TaIt is the suffered aligning torque of steered wheel, fpIt is frictional resistance moment, η is
The transmission efficiency of system；
Step 2.4:
Angle electrical machinery controller is by acquisition unit (front wheel angle sensor and torque sensor) by the signal of acquisition: side
To disk angular signal ideal value δsw, speed signal u, ideal yaw velocity, practical yaw rate signal ωrPass to robust
Property control unit；
Step 3:
Lu Bang Control Sampled-Data unit is obtained according to the real-time speed u of automobile and front wheel angle input full-vehicle steering two-freedom model
Practical yaw velocity ωr:
In formula: m is car mass；IZIt is automobile around the rotary inertia of z-axis；k1、k2The lateral deviation of respectively front and back wheel is rigid
Degree；δfFor front wheel angle；A, b are respectively distance of the axle to vehicle centroid；U is vehicle forward speed；ωrFor yaw angle speed
Degree；β is side slip angle；
Arithmetic and control unit passes through the ideal steering wheel angle signal δ of real time reaction driver intention simultaneouslysw, believe with speed
Number u calculates ideal yaw velocity ωr *, and it is sent to Lu Bang Control Sampled-Data unit；
Ideal yaw velocity
Stability factor
Wherein m is the quality of automobile, and L is the antero posterior axis square of automobile, k1It is the cornering stiffness of automobile front axle wheel, k2It is vapour
The cornering stiffness of the rear axle wheel of vehicle, a are the front shaft squares of automobile, and b is the rear axle axis square of automobile, K be automobile stability because
Element, u are longitudinal speeds of automobile；
Step 4:
Lu Bang Control Sampled-Data unit obtains the integrated treatment after practical yaw velocity and ideal yaw velocity, and practical
Yaw velocity and ideal yaw velocity difference Δ ωrIt is converted into compensating torque T accordingly1, the compensation turn of road agitation formation
Square T2, the compensation torque T of system friction formation3, consider system stability governing factor, while using the comprehensive robust control of μ, mentioning
The ability of high system attack external interference obtains Compensation Strategies, passes to Compensation Strategies unit；
Wherein Δ T=kc* Δ I (18)
Δ T is total compensation torque, and Δ I is the compensation electric current of torque motor；
In the present embodiment, the comprehensive robust control of the μ is real according to the state space of steering-by-wire bi-motor yaw velocity
It is existing:
The state variable of control system isThe input of system is u=[Δ
I], the disturbance input of system is w=[I dr Fyw]T, system output is y=[r], then steering-by-wire bi-motor yaw velocity
The state space realization of control are as follows:
In formula,
Wherein θs2It is the pinion gear corner under angle electrical machinery effect, θs3It is the corner of the pinion gear under torque motor effect,
BRIt is system Equivalent damping coefficient, the transmission ratio G, I of rack pinion corner to steering front wheel corner are the ideals of angle electrical machinery
Input current, Δ I are torque motor compensation electric current input, Jm2It is the rotary inertia of angle electrical machinery, Jm3It is the rotation of torque motor
Inertia, Bm2It is the damping of angle electrical machinery, Bm3It is the damping of torque motor, KtIt is the torque coefficient of angle electrical machinery and torque motor,
G1 is the reduction ratio of two stage reducer, JRIt is pinion-and-rack system equivalent moment of inertia, BRIt is pinion-and-rack system equivalent damping,
fpIt is frictional resistance moment, η=0.99 is the transmission efficiency of system.
Disturbance input in conjunction with 4 system of attached drawing is respectively ideal yaw velocity ωr *, angle electrical machinery A input current I, road
Face disturbance torque dr and lateral wind interfere Fsw.Wd (s)=[W1 W2 W3] it is exogenous disturbances weight function matrix, W1, W2And W3Point
It Wei not I, dr and to Fsw to the weighting function of yaw velocity r；In order to make system obtain good AF panel performance, W1, W2
And W3Amplitude-frequency characteristic should cover I as far as possible, dr and arrive FSWTo the amplitude-frequency characteristic of yaw velocity r transmission function, I, dr and F is arrivedSW
It can be determined to yaw velocity r transmission function according to the state space of offer；
Step 5:
Compensation Strategies unit receives the compensation torque from Lu Bang Control Sampled-Data unit and compensates control strategy judgement,
And will determine result and be suitable for determining that total compensation torque Δ T of result passes to torque motor, it is controlled by torque motor
Device control torque motor output torque is to compensate the torque being folded on rack gear, to compensate fortune with motor car wheel
It is dynamic to include:
Compensation Strategies unit receives the compensation torque from Lu Bang Control Sampled-Data unit and compensates control strategy judgement:
When total compensation torque is positive value, the compensation that torque motor carries out torque can control:
The differential equation of motion of rack gear are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLIt is rigid for steering linkage
Degree；BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is corner
The output torque of motor；Tg3It is the output torque of torque motor last moment:
Δ T=T1+T2+T3
Wherein: Δ T is total compensation torque, T1Make compensation torque needed for making up yaw velocity difference, T2Road agitation
The compensation torque of formation, T3The compensation torque that system friction is formed；
When total compensation torque Δ T is negative value or 0, the compensation that torque motor carries out torque, the movement of rack gear are not controlled
The differential equation are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLIt is rigid for steering linkage
Degree；BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is corner
The output torque of motor；Tg3It is the output torque of torque motor.
Torque motor exports corresponding compensation torque according to corresponding compensation policy, and then gear and rack teeth mechanism acts, tooth
Wheel rackwork drives front-wheel to be compensated accordingly, to realize the compensation of yaw velocity.
There are many invention patent concrete application approach, and the above is only the preferred embodiment of the invention patent, should
It points out, for those skilled in the art, under the premise of being or else detached from the invention patent principle, can also do
Several improvement out, these improvement also should be regarded as the scope of protection of the patent of the present invention.
Claims (2)
1. a kind of steering-by-wire dual motors system based on driving behavior identification, which is characterized in that the system includes: that acquisition is single
Member, turns to disc assembly and front-wheel steer assembly at central controller；
The acquisition unit includes: steering wheel angle sensor (4), hand-wheel torque sensor (5), front wheel angle sensor
(9), front-wheel torque sensor (12), vehicle speed sensor (19), lateral acceleration sensor (20) and yaw-rate sensor
(21)；
The central controller includes arithmetic and control unit (7), Lu Bang Control Sampled-Data and compensating unit (18)；The Lu Bang Control Sampled-Data and
Compensating unit (18) includes Lu Bang Control Sampled-Data unit and Compensation Strategies unit；
The steering disc assembly includes sequentially connected steering wheel (1), steering column (2), road feel motor (3) and road feel motor control
Device (6)；
The front-wheel steer assembly includes sequentially connected angle electrical machinery controller (8), angle electrical machinery (10), double reduction device
(11), torque motor controller (16), torque motor (13), retarder (14), gear and rack teeth mechanism (15), front-wheel (17)；
Wherein, steering wheel (1) is connected by steering lever column (2) with road feel motor (3) and steering wheel angle sensor (4), is turned
It is mounted on steering lever column (2) to disk torque sensor (5)；Road feel electric machine controller (6) is mounted on road feel motor (3), and
Connect with hand-wheel torque sensor (5)；
Rack and pinion steering gear (15) respectively with angle electrical machinery (10), torque motor (13), double reduction device (11), retarder
(14) it is connected, front-wheel (17) is mounted on the two sides of rack and pinion steering gear (15)；Front wheel angle sensor (9) is mounted on front-wheel
(17) on；Front wheel angle sensor (9) connect bus with torque sensor (12), by angle electrical machinery controller (8) and torque electricity
The signal of machine controller (16) is input in bus, then through bus transfer into Lu Bang Control Sampled-Data and compensating unit (18)；Turn
Angle motor (10) and double reduction device (11) are connected with angle electrical machinery controller (8), torque motor (13) and retarder
(14) it is connected with torque motor controller (16)；
Lateral acceleration sensor (20) and yaw-rate sensor (21) are installed on front-wheel (17), and side acceleration passes
Sensor (20) and yaw-rate sensor (21) are connect with Lu Bang Control Sampled-Data and compensating unit (18) respectively；
Lu Bang Control Sampled-Data and the unit of compensation (18) are connected with bus respectively with road feel controller (6), Lu Bang Control Sampled-Data and benefit
The unit (18) repaid and torque motor controller (12), angle electrical machinery controller (8), front wheel angle sensor (9), torque sensing
(12, arithmetic and control unit (7), angle electrical machinery controller (8) and torque motor controller (16) are separately connected device.
2. the Yaw stability of the steering-by-wire dual motors system as described in claim 1 based on driving behavior identification compensates plan
Slightly, which is characterized in that specific step is as follows:
Step 1:
While the car is driving, the behavior signal of driver, the corner of steering wheel angle sensor are acquired by acquisition unit
Signal δsw1, practical yaw rate signal ωr, speed signal u, the angular signal θ of angle electrical machinery, the torque letter of torque motor
Number and pass to arithmetic and control unit；
Step 2.1:
Arithmetic and control unit recognizes to obtain the ideal steering wheel angle δ of reaction driver intention by driving behaviorsw；
If vehicle centroid is (X, Y) relative to the position of earth axes, the angle of vehicle longitudinal axis and X-axis is that (vehicle is horizontal by φ
Pivot angle), then X, Y and φ can be acquired by following formula:
Wherein, X0, Y0It is the position of t=0 moment vehicle；
It is big come the input for deciding to move to disk corner according to the traveling angle error of displacement error and current car position at taking aim in advance
It is small:
Forward sight time TpIt is pre- take aim at displacement error εyBy the lateral displacement Y of expected pathd, at current time vehicle centroid
Lateral displacement YdAnd determination；
Steering wheel angle is represented by running car displacement error and the weighted sum of deflection error and multiplying for driver's operating delay
Product:
Wherein: δswFor ideal orientation disk corner；K1And K2Respectively compensating gain of the driver to displacement error and deflection error；
τdFor delay time；
Step 2.2:
Arithmetic and control unit obtains steering-by-wire bi-motor by the influence of comprehensive yaw velocity gain and side acceleration gain
The ideal steering ratio of automobile:
Wherein: CwrIt is the corresponding coefficient of yaw velocity gain, value range 3.03-6.25, CayIt is side acceleration gain
Corresponding coefficient, value range 0.16-0.22；
Step 2.3:
Arithmetic and control unit is by real-time steering wheel δswReverse ideal input model (5) is substituted into, angle electrical machinery is obtained and inputs ideal current
i2, and further pass to angle electrical machinery controller；
Wherein δfIt is front wheel angle, δswIt is steering wheel angle, BRIt is system Equivalent damping coefficient, ideal steering ratio id, the small tooth of rack gear
Take turns transmission ratio of the corner to steering front wheel corner, Tm2It is the output torque of angle electrical machinery, Jm2It is the rotary inertia of angle electrical machinery,
δm2It is the corner of angle electrical machinery, Bm2It is the damping of angle electrical machinery, Tg2It is the load torque of angle electrical machinery, KtIt is angle electrical machinery
Torque coefficient, i2It is the electric current of torque motor, G1 is the reduction ratio of two stage reducer, JRIt is that pinion-and-rack system Equivalent Rotational is used
Amount, BRIt is pinion-and-rack system equivalent damping, TaIt is the suffered aligning torque of steered wheel, fpIt is frictional resistance moment, η is to be
The transmission efficiency of system；
Step 2.4:
Angle electrical machinery controller is by front wheel angle sensor and torque sensor by the signal of acquisition: steering wheel angle signal is managed
Think value δsw, speed signal u, ideal yaw velocity, practical yaw rate signal ωrPass to Lu Bang Control Sampled-Data unit；
Step 3:
Lu Bang Control Sampled-Data unit obtains reality according to the real-time speed u of automobile and front wheel angle input full-vehicle steering two-freedom model
Yaw velocity ωr:
In formula: m is car mass；IZIt is automobile around the rotary inertia of z-axis；k1、k2The respectively cornering stiffness of front and back wheel；δfFor
Front wheel angle；A, b are respectively distance of the axle to vehicle centroid；U is vehicle forward speed；ωrFor yaw velocity；β is
Side slip angle；
Arithmetic and control unit passes through the ideal steering wheel angle signal δ of real time reaction driver intention simultaneouslysw, with speed signal u
Calculate ideal yaw velocity ωr *, and it is sent to Lu Bang Control Sampled-Data unit；
Ideal yaw velocity
Stability factor
Wherein m is the quality of automobile, and L is the antero posterior axis square of automobile, k1It is the cornering stiffness of automobile front axle wheel, k2It is automobile
The cornering stiffness of rear axle wheel, a are the front shaft squares of automobile, and b is the rear axle axis square of automobile, and K is the stability factor of automobile, u
It is longitudinal speed of automobile；
Step 4:
Lu Bang Control Sampled-Data unit obtains the integrated treatment after practical yaw velocity and ideal yaw velocity, and practical sideway
Angular speed and ideal yaw velocity difference Δ ωrIt is converted into compensating torque T accordingly1, the compensation torque of road agitation formation
T2, the compensation torque T of system friction formation3, consider system stability governing factor, while using the comprehensive robust control of μ, obtaining
Compensation Strategies pass to Compensation Strategies unit；
Wherein Δ T=kc* Δ I (18)
Δ T is total compensation torque, and Δ I is the compensation electric current of torque motor；
The μ integrates robust control according to the state space realization of steering-by-wire bi-motor yaw velocity:
The state variable of control system isThe input of system is u=[Δ I], is
The disturbance input of system is w=[I dr Fyw]T, system output is y=[r], then steering-by-wire bi-motor yaw velocity controls
State space realization are as follows:
In formula,
Wherein θs2It is the pinion gear corner under angle electrical machinery effect, θs3It is the corner of the pinion gear under torque motor effect, BRIt is
System Equivalent damping coefficient, the transmission ratio G, I of rack pinion corner to steering front wheel corner are the ideal inputs of angle electrical machinery
Electric current, Δ I are torque motor compensation electric current input, Jm2It is the rotary inertia of angle electrical machinery, Jm3Be torque motor rotation it is used
Amount, Bm2It is the damping of angle electrical machinery, Bm3It is the damping of torque motor, KtIt is the torque coefficient of angle electrical machinery and torque motor, G1
It is the reduction ratio of two stage reducer, JRIt is pinion-and-rack system equivalent moment of inertia, BRIt is pinion-and-rack system equivalent damping, fp
It is frictional resistance moment, η=0.99 is the transmission efficiency of system；
Step 5:
Compensation Strategies unit receives the compensation torque from Lu Bang Control Sampled-Data unit and compensates control strategy judgement:
When total compensation torque is positive value, control torque motor carries out the compensation of torque:
The differential equation of motion of rack gear are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLFor steering linkage rigidity；
BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is angle electrical machinery
Output torque；Tg3It is the output torque of torque motor last moment:
Δ T=T1+T2+T3 (24)
Wherein: Δ T is total compensation torque, T1Make compensation torque needed for making up yaw velocity difference, T2Road agitation is formed
Compensation torque, T3The compensation torque that system friction is formed；
When total compensation torque Δ T is negative value or 0, the compensation that torque motor carries out torque, the motion of rack gear are not controlled
Equation are as follows:
In formula: mrackFor the quality of rack gear；yrackFor the displacement of rack gear；rLFor the biasing of main pin；KLFor steering linkage rigidity；
BrackFor rack gear damped coefficient；FfrrackFrictional force between system, G are the reduction ratio of dual reducer mechanism；Tg2It is angle electrical machinery
Output torque；Tg3It is the output torque of torque motor.
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